From e08e64930c51247089d1c3045058a27dd2ff3c57 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Thu, 6 Jun 2013 13:42:52 +0000
Subject: [PATCH] rtabmap-pkg: added localLoopClosureId in rtabmap/InfoEx msg

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@879 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 rtabmap/msg/InfoEx.msg     | 1 +
 rtabmap/src/GuiWrapper.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/rtabmap/msg/InfoEx.msg b/rtabmap/msg/InfoEx.msg
index 714a7505..c2e008d9 100644
--- a/rtabmap/msg/InfoEx.msg
+++ b/rtabmap/msg/InfoEx.msg
@@ -7,6 +7,7 @@ Header header
 
 int32 refId
 int32 loopClosureId
+int32 localLoopClosureId
 
 # std::map<int, float> posterior;
 int32[] posteriorKeys
diff --git a/rtabmap/src/GuiWrapper.cpp b/rtabmap/src/GuiWrapper.cpp
index cfc26e5c..75a490f3 100644
--- a/rtabmap/src/GuiWrapper.cpp
+++ b/rtabmap/src/GuiWrapper.cpp
@@ -84,6 +84,7 @@ void GuiWrapper::infoExReceivedCallback(const rtabmap::InfoExConstPtr & msg)
 
 	stat.setRefImageId(msg->refId);
 	stat.setLoopClosureId(msg->loopClosureId);
+	stat.setLocalLoopClosureId(msg->localLoopClosureId);
 
 	if(msg->refImage.size())
 	{